On singular behaviors of impedance-based repeatable control for redundant robots

DOI10.1002/ROB.1014zbMath1006.70008OpenAlexW2044252273MaRDI QIDQ2722679

Vijay Kumar, Chau-Chang Wang

Publication date: 2 July 2001

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1014

zbMATH Keywords

stabilitystructural mechanicsredundant manipulatorssingular behaviourimpedance-based repetable control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Repeatability of redundant manipulators: mathematical solution of the problem
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